/**
 *             _..--""-.                  .-""--.._
           _.-'         \ __...----...__ /         '-._
         .'      .:::...,'              ',...:::.      '.
        (     .'``'''::;                  ;::'''``'.     )
         \             '-)              (-'             /
          \             /                \             /
           \          .'.-.            .-.'.          /
            \         | \0|            |0/ |         /
            |          \  |   .-==-.   |  /          |
             \          `/`;          ;`\`          /
              '.._      (_ |  .-==-.  | _)      _..'
                  `"`"-`/ `/'        '\` \`-"`"`
                       / /`;   .==.   ;`\ \
                 .---./_/   \  .==.  /   \ \
                / '.    `-.__)       |    `"
               | =(`-.        '==.   ;
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                 \_:_)   `"--.....-'

                 file: gripper_defines.h
                 description: define gripper values.
                 authors: Michiel and Peter
 */

#ifndef GRIPPER_DEFINES_H__
#define GRIPPER_DEFINES_H__

namespace GripperDefines
{
double PI_STEP = M_PI/32;

double MIN_DISTANCE = 0.7;	// min distance in dm

double DISTANCE_MAX = 3.30;	// max distance to sensor in dm
double DISTANCE_MIN = 0;	// min distance to sensor in dm
double DISTANCE_STEP = 0.05;	// distance step in dm

double ROTATION_MIDDLE_STEP = 0.05;
double ROTATION_MIDDLE_MAX = 0.0;
double ROTATION_MIDDLE_MIN = -1.0;

double ROTATION_TOP_STEP = PI_STEP;
double ROTATION_TOP_MAX = PI_STEP*16;
double ROTATION_TOP_MIN = PI_STEP*2;

double DEFAULT_TORQUE	 = 5;	// torque in millinewton
double GRIPPER_DURATION = 1000;	// duration of open action in ms

int OPEN = -1;
int CLOSED = 1;
}

#endif
